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ProJect

ProJect. Application to Crane System. 1. Objective. Understand of application of inverted pendulum To minimize the time and reduce the vibrations apply the PID controller to crane system as moves to a goal. 2. Introduction.

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ProJect

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  1. ProJect Application to Crane System

  2. 1. Objective • Understand of application of inverted pendulum • To minimize the time and reduce the vibrations apply the PID controller to crane system as moves to a goal.

  3. 2. Introduction • Crane system has 1 input and 2 outputs -> MIMO (Multi Input Multi Output) System • The inverted pendulum’s angle signal(Encoder) becomes signal of sensing the vibrations. • Cart’s location signal(Encoder) is used for sensing the location of packages. • There are no additional conditions to use inverted pendulum system. • It always needs to be downwards direction and stopped.

  4. 3. Problem • 1. Modeling the following Crane system • Control the system using 2. PID, 3. Pole Placement

  5. 4. Mission • Modeling the crane system • Control the system to locate following procedure. • Start at 0 position, after 5 seconds +10, after 15senconds +20, after 25 seconds -10 • Simulation the PID controller using the crane system equation • Simulation the Pole Place controller using the crane system equation • Experiment the PID controller • Experiment the Pole Place controller • Compare and analysis the results of simulation and experiment • Control the crane system has to be accurate and good performance • REPORT : 10 Points • Results of Experiments : 10 Points

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